Rune Harlyk
69 lines
1.6 KiB
C++
69 lines
1.6 KiB
C++
#ifndef MotionService_h
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#define MotionService_h
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#include <ArduinoJson.h>
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#include "esp_timer.h"
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#include <kinematics.h>
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#include <peripherals/gesture.h>
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#include <peripherals/peripherals.h>
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#include <utils/timing.h>
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#include <utils/math_utils.h>
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#include <motion_states/state.h>
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#include <motion_states/walk_state.h>
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#include <motion_states/stand_state.h>
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#include <motion_states/rest_state.h>
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#include <message_types.h>
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enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, WALK };
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class MotionService {
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public:
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void begin();
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void anglesEvent(JsonVariant &root, int originId);
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void handleInput(JsonVariant &root, int originId);
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void handleWalkGait(JsonVariant &root, int originId);
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void handleMode(JsonVariant &root, int originId);
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void setState(MotionState *newState);
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void handleGestures(const gesture_t ges);
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bool update(Peripherals *peripherals);
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bool update_angles(float new_angles[12], float angles[12]);
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float *getAngles() { return angles; }
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inline bool isActive() { return state != nullptr; }
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private:
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Kinematics kinematics;
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CommandMsg command = {0, 0, 0, 0, 0, 0, 0};
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friend class MotionState;
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MotionState *state = nullptr;
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RestState restState;
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StandState standState;
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WalkState walkState;
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body_state_t body_state;
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float new_angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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float angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
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int64_t lastUpdate = esp_timer_get_time();
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};
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#endif
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